Fawkes API  Fawkes Development Version
pcl_db_retrieve_thread.h
1 
2 /***************************************************************************
3  * pcl_db_retrieve_thread.h - Restore and retrieve point clouds from MongoDB
4  *
5  * Created: Thu Aug 22 12:04:15 2013
6  * Copyright 2012 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _PLUGINS_PERCEPTION_PCL_DB_RETRIEVE_PCL_DB_RETRIEVE_THREAD_H_
23 #define _PLUGINS_PERCEPTION_PCL_DB_RETRIEVE_PCL_DB_RETRIEVE_THREAD_H_
24 
25 #include "pcl_db_retrieve_pipeline.h"
26 
27 #include <aspect/blackboard.h>
28 #include <aspect/clock.h>
29 #include <aspect/configurable.h>
30 #include <aspect/logging.h>
31 #include <aspect/pointcloud.h>
32 #include <aspect/tf.h>
33 #include <core/threading/thread.h>
34 #include <pcl/point_cloud.h>
35 #include <pcl/point_types.h>
36 #include <plugins/mongodb/aspect/mongodb.h>
37 
38 namespace fawkes {
39 class PclDatabaseRetrieveInterface;
40 class BlackBoardOnMessageWaker;
41 } // namespace fawkes
42 
44  public fawkes::ClockAspect,
45  public fawkes::LoggingAspect,
48  public fawkes::MongoDBAspect,
51 {
52 public:
55 
56  virtual void init();
57  virtual void loop();
58  virtual void finalize();
59 
60  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
61 protected:
62  virtual void
63  run()
64  {
65  Thread::run();
66  }
67 
68 private: // members
69  fawkes::PclDatabaseRetrieveInterface *retrieve_if_;
71 
74 
77 
78  std::string cfg_database_;
79  std::string cfg_output_id_;
80  std::string cfg_original_id_;
81 
84 };
85 
86 #endif
Thread to retrieve point clouds from database on request.
virtual ~PointCloudDBRetrieveThread()
Destructor.
virtual void loop()
Code to execute in the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Wake threads on receiving a blackboard message.
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to access MongoDB.
Definition: mongodb.h:39
Thread aspect to provide and access point clouds.
Definition: pointcloud.h:38
RefPtr<> is a reference-counting shared smartpointer.
Definition: refptr.h:50
Thread class encapsulation of pthreads.
Definition: thread.h:46
Thread aspect to access the transform system.
Definition: tf.h:39
Fawkes library namespace.